Department of Chemical Engineering

CHE 821: PROCESS DYNAMICS AND CONTROL

SYSTEM
BY
COURSE LECTURER: Engr. Dr. Christopher E. Akhabue
(Associate Professor)
email: christopher.akhabue@uniben.edu,
POLES AND ZEROS OF A TRANSFER FUNCTION

• Transfer function is a ratio of two functions

Zeros: The roots of the polynomial are the zeros of the

transfer function or a system.
Poles: The roots of the polynomial are the poles of the
transfer function or a system.
Example
Consider the representation of a model for a
SISO system in Laplace domain

Where;
What are the poles and zeros of the system?
 POLES AND ZEROS OF A TRANSFER
FUNCTION
NOTE:
 At the poles of a system, transfer function
becomes infinity.
 At the zeros of a system, transfer function
becomes zero.
 GENERAL FORM OF TRANSFER FUNCTION

• For a process represented by an order linear

ODE

• The Laplace transform of the equation

 GENERAL FORM OF TRANSFER FUNCTION
(Cont.)

Taking out the common terms

For all physically realizable system,

 ANALYSIS OF TRANSFER FUNCTION

Cases:
 Two real poles and distinct.
 Multiple poles and real.
 Two complex conjugate poles.
ANANLYSIS OF TRANSFER FUNCTION (Cont.)

Resolving the general form of the transfer

function using partial fraction
ANANLYSIS OF TRANSFER FUNCTION (Cont.)


G(s)=
ANANLYSIS OF TRANSFER FUNCTION (Cont.)


If ; as
ANANLYSIS OF TRANSFER FUNCTION (Cont.)


If ; as
ANANLYSIS OF TRANSFER FUNCTION (Cont.)


If ; as
ANANLYSIS OF TRANSFER FUNCTION (Cont.)

If a system has the pole in the left of the

imaginary axis, then the system is decaying to
zero (i.e., the system is stable).
For the case of where the pole is greater than
zero, it grows exponentially to infinity (i.e. the
system becomes unstable.
ANANLYSIS OF TRANSFER FUNCTION (Cont.)

where,
ANANLYSIS OF TRANSFER FUNCTION (Cont.)

If , as ,
Also
The system is unstable

If , as ,
Also
The system is stable in this case.
If , as ,
Also as
ANANLYSIS OF TRANSFER FUNCTION (Cont.)

 Complex Conjugate Poles

The transfer function in this case is

The two complex conjugate poles are and

ANANLYSIS OF TRANSFER FUNCTION (Cont.)

If ; as
then grows to infinity in an oscillating manner. The system is
unstable.
ANANLYSIS OF TRANSFER FUNCTION (Cont.)

If ; as
• then decays to zero in an oscillatory manner.
ANANLYSIS OF TRANSFER FUNCTION (Cont.)

•
If ; as
• then oscillates continuously with constant amplitude.
Sometimes called marginally stable.
ANALYSIS OF TRANSFER FUNCTION (Cont.)
 Poles at the Origin
 DYNAMICS OF FIRST ORDER SYSTEMS

Rearranging
DYNAMICS OF FIRST ORDER SYSTEMS
(Cont.)
DYNAMICS OF FIRST ORDER SYSTEMS
(Cont.)
 DYNAMICS OF FIRST ORDER SYSTEMS
(Cont.)

Case II:
 DYNAMICS OF FIRST ORDER SYSTEMS
(Cont.)
Case II:
DYNAMICS OF FIRST ORDER SYSTEMS (Cont.)

The Laplace transform

Purely capacitive or Purely integrator

DYNAMICS OF FIRST ORDER SYSTEMS (Cont.)

Example 1
Derive the transfer function of the liquid tank
shown below .
DYNAMICS OF FIRST ORDER SYSTEMS (Cont.)

The model for the liquid tank system is

DYNAMICS OF FIRST ORDER SYSTEMS (Cont.)

In terms of deviation variables

where and
DYNAMICS OF FIRST ORDER SYSTEMS (Cont.)
DYNAMICS OF FIRST ORDER SYSTEMS (Cont.)
Example 2
Derive the model for the liquid tank system
shown below (pure capacity system, where .
DYNAMICS OF FIRST ORDER SYSTEMS (Cont.)
Example 2
The model for the system

• At steady state
DYNAMICS OF FIRST ORDER SYSTEMS (Cont.)

• where and
DYNAMICS OF FIRST ORDER SYSTEMS (Cont.)
Dynamic Behaviour of First – Order System
 Ramp Input,

For a first order process,

Dynamic Behaviour of First – Order System
Resolving the equation using partial fraction

• Therefore
Dynamic Behaviour of First – Order System
As ,
Dynamic Behaviour of a Pure Capacitive Process
(Step Input)

For a unit step change,

As ,

Non-Self Regulatory Process

Dynamic Behaviour of a First Order System
Step Change

For a step change of magnitude ,

Dynamic Behaviour of a First Order System

 The final steady state value for this process is

obtained as 1.
Dynamic Behaviour of a First Order System

• NOTE
1. This Process is Self Regulatory.
2. The slope of the response at
Dynamic Behaviour of a First Order System

=
Dynamic Behaviour of a First Order System

3. At
Dynamic Behaviour of a First Order System

• 3.